def __init__(self):
self.DEFAULT_PRIOR = 0.1
self.MAP_WIDTH = 800
self.MAP_HEIGHT = 800
self.NUM_SPOTS = 5
self.DIFF = 50
self.potentials = []
self.grid = np.zeros((self.MAP_WIDTH, self.MAP_HEIGHT))
self.grid.fill(self.DEFAULT_PRIOR)
self.draw_grid = Grid()
self.draw_grid.init_window(800, 800)
def __init__(self): self.DEFAULT_PRIOR = 0.1 self.MAP_WIDTH = 800 self.MAP_HEIGHT = 800 self.NUM_SPOTS = 5 self.DIFF = 50 self.potentials = [] self.grid = np.zeros((self.MAP_WIDTH, self.MAP_HEIGHT)) self.grid.fill(self.DEFAULT_PRIOR) self.draw_grid = Grid() self.draw_grid.init_window(800, 800)
class WorldGrid:
def __init__(self):
self.DEFAULT_PRIOR = 0.1
self.MAP_WIDTH = 800
self.MAP_HEIGHT = 800
self.NUM_SPOTS = 5
self.DIFF = 50
self.potentials = []
self.grid = np.zeros((self.MAP_WIDTH, self.MAP_HEIGHT))
self.grid.fill(self.DEFAULT_PRIOR)
self.draw_grid = Grid()
self.draw_grid.init_window(800, 800)
def coordinates_to_indexes(self, x, y):
i = x + (self.MAP_WIDTH / 2)
j = y - (self.MAP_HEIGHT / 2)
return i, j
def grid_to_indexes(self, grid_x, grid_y, pos):
origin_x, origin_y = pos
offset_x = grid_x + origin_x
offset_y = grid_y + origin_y
x, y = self.coordinates_to_indexes(offset_x, offset_y)
return y, x
def get_world_value(self, grid_x, grid_y, pos):
x, y = self.grid_to_indexes(grid_x, grid_y, pos)
return self.grid[x, y]
def set_world_value(self, grid_x, grid_y, pos, value):
x, y = self.grid_to_indexes(grid_x, grid_y, pos)
self.grid[x, y] = value
def draw_obstacle_grid(self):
self.draw_grid.update_grid(self.grid)
self.draw_grid.draw_grid(self.potentials)
def getPartialGrid(self):
x = -self.MAP_WIDTH / 2
y = -self.MAP_HEIGHT / 2
result = []
while x < self.MAP_WIDTH / 2:
print "x: ", x
while y < self.MAP_HEIGHT / 2:
print "y: ", y
pos = (x, y)
if self.isUnvisited(pos):
print "adding ", pos
result.append(pos)
y += self.DIFF
y = -self.MAP_HEIGHT / 2
x += self.DIFF
print "Partial Grid: ", result
return result
def getNewUnvistedLocation(self):
positions = self.getPartialGrid()
i = random.randrange(len(positions))
return positions[i]
def isUnvisited(self, pos):
x, y = pos
i, j = self.coordinates_to_indexes(x, y)
value = self.grid[x, y]
value2 = self.grid[i, j]
value3 = self.grid[j, i]
value4 = self.grid[y, x]
print "(", i, ",", abs(j), ") = ", value3
#print "(", x, ",", y, ") = "
#print "(", i, ",", j, ") = ", value2
#print "(", x, ",", y, ") = ", value
if value3 == self.DEFAULT_PRIOR:
return True
return False
def getTargetLocations(self):
print "Potentials: ", self.potentials
while len(self.potentials) < self.NUM_SPOTS:
self.potentials.append(self.getNewUnvistedLocation())
for i in range(0, self.NUM_SPOTS):
pos = self.potentials[i]
if not self.isUnvisited(pos):
self.potentials[i] = self.getNewUnvistedLocation()
return self.potentials
class WorldGrid:
def __init__(self):
self.DEFAULT_PRIOR = 0.1
self.MAP_WIDTH = 800
self.MAP_HEIGHT = 800
self.NUM_SPOTS = 5
self.DIFF = 50
self.potentials = []
self.grid = np.zeros((self.MAP_WIDTH, self.MAP_HEIGHT))
self.grid.fill(self.DEFAULT_PRIOR)
self.draw_grid = Grid()
self.draw_grid.init_window(800, 800)
def coordinates_to_indexes(self, x, y):
i = x + (self.MAP_WIDTH / 2)
j = y - (self.MAP_HEIGHT / 2)
return i, j
def grid_to_indexes(self, grid_x, grid_y, pos):
origin_x, origin_y = pos
offset_x = grid_x + origin_x
offset_y = grid_y + origin_y
x, y = self.coordinates_to_indexes(offset_x, offset_y)
return y, x
def get_world_value(self, grid_x, grid_y, pos):
x,y = self.grid_to_indexes(grid_x, grid_y, pos)
return self.grid[x,y]
def set_world_value(self, grid_x, grid_y, pos, value):
x,y = self.grid_to_indexes(grid_x, grid_y, pos)
self.grid[x,y] = value
def draw_obstacle_grid(self):
self.draw_grid.update_grid(self.grid)
self.draw_grid.draw_grid(self.potentials)
def getPartialGrid(self):
x = -self.MAP_WIDTH / 2
y = -self.MAP_HEIGHT / 2
result = []
while x < self.MAP_WIDTH /2:
print "x: ", x
while y < self.MAP_HEIGHT /2:
print "y: ", y
pos = (x,y)
if self.isUnvisited(pos):
print "adding ", pos
result.append(pos)
y += self.DIFF
y = -self.MAP_HEIGHT / 2
x += self.DIFF
print "Partial Grid: ", result
return result
def getNewUnvistedLocation(self):
positions = self.getPartialGrid()
i = random.randrange(len(positions))
return positions[i]
def isUnvisited(self, pos):
x, y = pos
i, j = self.coordinates_to_indexes(x, y)
value = self.grid[x,y]
value2 = self.grid[i,j]
value3 = self.grid[j, i]
value4 = self.grid[y,x]
print "(", i, ",", abs(j), ") = ", value3
#print "(", x, ",", y, ") = "
#print "(", i, ",", j, ") = ", value2
#print "(", x, ",", y, ") = ", value
if value3 == self.DEFAULT_PRIOR:
return True
return False
def getTargetLocations(self):
print "Potentials: ", self.potentials
while len(self.potentials) < self.NUM_SPOTS:
self.potentials.append(self.getNewUnvistedLocation())
for i in range(0, self.NUM_SPOTS):
pos = self.potentials[i]
if not self.isUnvisited(pos):
self.potentials[i] = self.getNewUnvistedLocation()
return self.potentials
